//
// Created by hzj on 24-2-28.
//
#include "multi_camera_cooperation/preprocess.h"
#include "multi_camera_cooperation/landmark_extraction_node_ros.h"
#include "multi_camera_cooperation/pnp_target_node_ros.h"

using namespace std;

int main(int argc, char **argv)
{
    ros::init(argc, argv, "single_cam_process_ros");
    ros::NodeHandle nh("~");
//    ros::NodeHandle nh;
    ros::Rate rate(30);
    tf::TransformBroadcaster* br0 = new(tf::TransformBroadcaster);
    tf::TransformBroadcaster* br1 = new(tf::TransformBroadcaster);

    Preprocess preprocess(nh);
    LandmarkExtractionNodeROS landmark_manager;
    PnPTargetNodeROS pnp_manager;
    
    landmark_manager.init(nh);
    pnp_manager.init(nh, br0, br1);
    
    ros::spin();
}